DE102015223332B4 - AUTONOMOUS DRIVING CONTROLLER AND METHOD FOR DETERMINING A LANE CHANGE AND THE TIMING OF THE SAME BASED ON AN ANALYSIS FOR THE FORWARD DIRECTION FORMS AND LINKS OF A ROAD - Google Patents

Abstract

An autonomous driving control method of a vehicle (500), comprising: generating (S120), by a controller (110), a path plan from a current position of the vehicle (500) toward a destination with reference to a map database (120) while driving the vehicle (500);determining (S130), by the controller, a farthest segment within a plurality of segments for each lane of a road from the current position of the vehicle (500) to a predetermined segment on the path map as a local destination (700);determining (S140), by the controller, whether a lane change is required to arrive at the local destination (700), and determining a direction of the lane change when the lane change is required; anddetermining (S150), by the controller, a lane change completion segment within the segments for each lane toward the target segment, and determining a segment position before a distance for the lane change, from an end of the lane change completion segment, as a timing position for the lane change; wherein if the segment prior to the lane change distance has a road curvature of a predetermined threshold or greater, the number of lanes is one for a crossroad (600), or during a traffic congestion condition due to excess traffic within a corresponding segment segment immediately before or after the corresponding segment as the lane change timing position is determined.

Description

TECHNICAL PART

The present disclosure relates to an autonomous driving controller and method, and more specifically, to an autonomous driving controller and method for detecting a lane change and a timing thereof based on the shapes of the roads in the forward direction , a connection relationship between the roads, and the like recognized from a detailed map for autonomous driving.

BACKGROUND

Nowadays, due to an increase in the use of electric vehicles, assistance to arrive at a destination conveniently while minimizing manual driving with the aid of an autonomous driving device is increasingly being researched and developed. In order to implement more convenient and stable autonomous driving, the performance of the autonomous driving device has been improved. However, there is a need for an autonomous driving device to solve a limitation of the prior art autonomous driving device and to support the driver's driving more effectively. The autonomous driving device is related to the technologies such as adaptive (responsive) cruise control (ACCS), forward vehicle collision avoidance system (FVCAS), side and rear vehicle collision avoidance system (SBVCAS), and lane departure warning system (LDWS). ), Etc.

Generic one knows this U.S. 2012/0 123 672 A1 which already shows an autonomous driving control method comprising: generating, by a controller, a path plan from a current position of the vehicle toward a destination with reference to a map database while driving the vehicle; determining, by the controller, a farthest segment within a plurality of segments for each lane of a road from the current position of the vehicle to a predetermined segment on the path plan as a local destination; determining, by the controller, whether a lane change is required to arrive at the local destination; determining, by the controller, a lane change completion segment within the segments for each lane toward the target segment; and determining a segment position before a lane change distance, from an end of the lane change completion segment, as a lane change timing position.

The U.S. 2011/0 276 257 A1 discloses a fact that when a vehicle passes through an intersection which is stored in a collection target intersection database and for which direction-specific check information is collected, a CPU of a navigation device acquires a plurality of direction-specific check information (incoming link, outgoing link, section travel time and the like) from one generates a plurality of unit distance section information collected within a direction-specific section for collecting traffic information until the vehicle passes through the intersection, an input link traveled before entering the intersection; and an exit route traveled after passing through the intersection, and transmits them to an information distribution center.

From the JP 2007 - 127 416 A there is known a route guidance system comprising a current location detecting part; a route guidance processing means for retrieving retrieval routes; guidance point setting processing means for setting guidance points based on the retrieval routes; a route guidance location setting processing means for setting default route guidance locations to the guidance points; processing means for determining the presence or absence of lane-change prohibition sections that prohibit movement between lanes on retrieval routes from an initial route guidance location to the guidance points, based on the default route guidance locations; and a route guidance locus correction processing means for correcting the standard route guidance loci and setting them on the near side when the lane change prohibiting sections are present. Since it is possible to ensure a sufficient distance for movements between lanes, it is possible to safely move between lanes in accordance with route guidance.

The U.S. 2015/0 160 034 A1 shows a route planner including a location information generator, a route planner, a lane planner, a controller, and an output unit. The location information generator is designed to generate location information. The route planner is designed to calculate a route to a destination using the location information, the map information, and the traffic information. The lane planner is configured to create a lane on the route foto graphed. The control unit processes the data received from the lane recording and the route recording. The output unit is configured to output the lane guidance information.

SUMMARY

The present disclosure provides an autonomous driving control apparatus and method capable of automatically determining whether a lane change is required and effectively determining a lane change timing when the lane change is required, based on shapes of the roads forward, a connection relationship between the roads, a speed limit, the number of lanes, the road characteristics (e.g. cross streets, cross roads, interchanges, junctions, speed bumps, dead ends) and the like, which are detected using a detailed map to make a more convenient one , to support stable and efficient arrival at a destination with the help of autonomous driving.

According to an exemplary embodiment of the present disclosure, an autonomous driving control method of a vehicle may include: generating a path plan from a current position of the vehicle toward a destination with reference to a map database while the vehicle is being driven; determining a most distant segment within the segments for each of the lanes from the current position of the vehicle to a predetermined target segment on the path map as a local target point; determining whether a lane change is required to arrive at the local destination and determining a direction of the lane change based on the determination of whether the lane change is required; and determining a lane change completion segment within the segments for each of the lanes up to the target segment and determining a segment position, before a distance for the lane change, from an end of the lane change completion segment as a timing position for the lane change, wherein when the segment prior to the lane change clearance, has a road curvature of a predetermined threshold or greater, the number of lanes is one, for a cross street, or during a congestion condition, due to congestion within a corresponding segment, one segment immediately before or after the corresponding segment as the timing position for the lane change is determined.

The path map may contain information on a shape of a road, a connection relationship between the segments connecting between the road division nodes, a speed limit of the vehicle, the number of lanes, or events (e.g., road characteristics). The target segment may include a segment spaced from the vehicle's current position in a forward direction by a predetermined distance, a farthest segment corresponding to when summing the number of segments forward from the vehicle's current position becomes a predetermined number, or a farthest segment corresponding to when a cumulative number of forward events from the current position of the vehicle becomes the predetermined number.

In determining the lane change direction, the lane change direction may be determined in a left direction or a right direction based on whether the vehicle arrives at the local target point by going straight after performing the lane change in the left or right direction. In addition, in the determination of the segment position as the temporal position for the lane change, a segment in front of the segments having a road characteristic including a crossroad, a crossway, an interchange, a junction, a speed bump or a dead end can be selected as the lane change position. Completion segment to be determined.

In determining the segment position as the lane change timing position, if the lane change distance (K) is greater than a distance (D _event ) from the vehicle's current position to the end of the lane change completion segment, a segment position may occur the lane change distance can be determined as the lane change timing position. In addition, when determining the segment position as the timing position for the lane change, a minimum distance (D _{min require} = D _1c + D _dec ) necessary for the lane change can be calculated by calculating a distance (D _1c ) at which the vehicle is moved during a process of performing the lane change and a deceleration distance (D _dec ) can be calculated, and a preset distance (D _margin ) of the stability of the lane change can be reflected to calculate the distance for the lane change (K = D _{min require} + D _margin ) to calculate.

wobei v eine Geschwindigkeit des Fahrzeugs ist, t₁ eine Zeit ist, welche für den Fahrspurwechsel notwendig ist, und t₂ eine vorher eingestellte Zeit für die Stabilität zwischen dem Fahrspurwechsel und einem nächsten Fahrspurwechsel ist, wenn die Anzahl der Ausführungszeiten (p) eines Fahrspurwechsels zwei oder mehr ist.In determining the segment position as the timing position for lane changes, the following equation can be used. $${\text{D}}_{\text{lc}}=\text{v*}\left({\text{<figure-callout id="1" label="t" filenames="DE102015223332B4\_0008.png,DE102015223332B4\_0011.png" state="{{state}}">t</figure-callout>}}_1*\text{p}+{\text{<figure-callout id="2" label="t" filenames="DE102015223332B4\_0008.png,DE102015223332B4\_0011.png" state="{{state}}">t</figure-callout>}}_2*\left(\text{p}-1\right)\right)$$

where v is a speed of the vehicle, t ₁ is a time necessary for the lane change, and t ₂ is a preset time for the stability between the lane change and a next lane change when the number of execution times (p) of a lane change is two or more.

According to another exemplary embodiment of the present disclosure, an autonomous driving controller for a vehicle may include: a path generator configured to generate a path plan from a current position of the vehicle toward a destination with reference to a map database, while the vehicle is being driven; a segment/local destination determiner configured to determine a farthest segment within the segments for each lane from the current position of the vehicle to a predetermined destination segment on the path map as a local destination; a lane change/direction determiner configured to determine whether a lane change is required to arrive at (eg, reach) the local destination, and a direction of the lane change based on the determination of whether the lane change is required is to determine; and a lane change timing determiner configured to determine a lane change completion segment of the segments for each lane up to the target segment, and a segment position before a lane change distance from an end of the lane change completion segment as a timing position for determine the lane change, wherein if the segment prior to the lane change distance has a road curvature of a predetermined threshold or greater, the number of lanes is one, for a crossroad, or during a congestion condition, due to over-congestion within a corresponding segment, the lane change timing determination element is configured to determine a segment immediately before or after the corresponding segment as the lane change timing position. Any of the above modules or units may be executed by a centralized controller configured to generally operate the autonomous driving and control device.

The path map may contain information on a shape of a road, a connection relationship between the segments connecting between the road division nodes, a speed limit of the vehicle, the number of lanes, or road characteristics. The target segment may include a segment spaced from the vehicle's current position in a forward direction by a predetermined distance, a farthest segment corresponding to when summing the number of segments forward from the vehicle's current position becomes a predetermined number, or a farthest segment corresponding to when accumulating the number of events forward from the current position of the vehicle becomes the predetermined number.

The lane change/direction determiner may be configured to determine a direction of the lane change in a left direction or a right direction based on whether the vehicle arrives at the local destination point by driving after performing the lane change in the left or right direction . The lane change timing determiner may be configured to determine a segment before segments have an event, including a crossroad, a crossway, an interchange, a junction, a speed bump, or a dead end as the lane change completion segment.

If the lane change distance (K) is greater than a distance (D _event ) from the vehicle's current position to the end of the lane change completion segment, the lane change timing determinator may be configured one segment position before the lane change distance as the timing position for the lane change. Specifically, the lane change timing determiner may be configured to calculate the lane change distance (K=D _{min_require} + D _margin ) by calculating a distance (D _1c ) at which the vehicle will travel during a process of performing the lane change and a deceleration distance (D _dec ) is moved to calculate a minimum distance (D _{min_require} = D _1c + D _dec ) necessary for the lane change and a preset distance (D _margin ) for the stability of the lane change reflect.

wobei v eine Geschwindigkeit des Fahrzeugs ist, t₁ eine Zeit ist, welche für den Fahrspurwechsel notwendig ist, und t₂ eine vorher eingestellte Zeit für die Stabilität zwischen dem Fahrspurwechsel und einem nächsten Fahrspurwechsel ist, wenn die Anzahl der Ausführungen (p) der Fahrspurwechsel zwei oder mehr ist.The lane change timing determiner can calculate the following equation. $${\text{D}}_{\text{lc}}=\text{v*}\left({\text{<figure-callout id="1" label="t" filenames="DE102015223332B4\_0008.png,DE102015223332B4\_0011.png" state="{{state}}">t</figure-callout>}}_1*\text{p}+{\text{<figure-callout id="2" label="t" filenames="DE102015223332B4\_0008.png,DE102015223332B4\_0011.png" state="{{state}}">t</figure-callout>}}_2*\left(\text{p}-1\right)\right)$$

where v is a speed of the vehicle, t ₁ is a time necessary for the lane change, and t ₂ is a preset time for the stability between the lane change and a next lane change when the number of executions (p) of the lane change is two or more.

character list

• 1 ist ein Blockdiagramm eines autonomen Fahr-Steuergerätes entsprechend einer beispielhaften Ausführungsform der vorliegenden Offenbarung;
• 2 ist ein Ablaufdiagram, welches einen Betrieb des autonomen Fahr-Steuergerätes entsprechend zu der beispielhaften Ausführungsform der vorliegenden Offenbarung darstellt;
• 3 ist ein erläuterndes Diagramm, welches eine Verbindungsbeziehung zwischen Segmenten, welche die Form von sechs „Bäumen“ besitzen, von einer aktuellen Position eines Fahrzeugs bis zu einem lokalen Zielpunkt entsprechend einer beispielhaften Ausführungsform der vorliegenden Offenbarung darstellt;
• 4 stellt ein Beispiel einer detaillierten Landkarte dar, welche ein Fahrspurwechselverfahren, welches zwischen der aktuellen Position des Fahrzeugs und einem lokalen Zielpunkt in Vorwärtsrichtung durchgeführt wird, entsprechend einer Steuerung des autonomen Fahr-Steuergeräts, entsprechend der beispielhaften Ausführungsform der vorliegenden Offenbarung, darstellt;
• 5 stellt ein Beispiel einer detaillierten Landkarte dar, welche ein Fahrspur-Änderungsverfahren darstellt, welches zwischen einer Position des Fahrzeugs, von welchem eine Fahrspur gewechselt wird, und einem neuen lokalen Zielpunkt in Vorwärtsrichtung, entsprechend einer Steuerung des autonomen Fahr-Steuergerätes, entsprechend der beispielhaften Ausführungsform der vorliegenden Offenbarung, durchgeführt wird;
• 6 ist ein erläuterndes Diagramm, welches ein Fahrspurwechselverfahren in einer Verbindungsbeziehung der Segmente, welche eine Form von drei „Bäumen“ besitzen, zwischen einer aktuellen Position eines Fahrzeugs auf einem Pfadplan und einem lokalen Zielpunkt, entsprechend einer beispielhaften Ausführungsform der vorliegenden Offenbarung, darstellt;
• 7 ist ein weiteres erläuterndes Diagramm, welches ein Fahrspurwechselverfahren in einer Verbindungsbeziehung der Segmente, welche eine Form von drei „Bäumen“ besitzen, zwischen einer aktuellen Position eines Fahrzeugs auf einem Pfadplan und einem lokalen Zielpunkt entsprechend einer beispielhaften Ausführungsform der vorliegenden Offenbarung darstellt; und
• 8 ist noch ein weiteres erläuterndes Diagramm, welches ein Fahrspurwechselverfahren in dem Fall zeigt, in welchem Querstraßen 7, 8 und 9 zwischen einer aktuellen Position eines Fahrzeugs auf einem Pfadplan und einem lokalen Zielpunkt vorhanden sind, entsprechend einer beispielhaften Ausführungsform der vorliegenden Offenbarung.

The above and other objects, features and advantages of the present disclosure will become apparent from the following detailed description taken in connection with the accompanying drawings.

• 1 12 is a block diagram of an autonomous driving controller according to an exemplary embodiment of the present disclosure;
• 2 12 is a flowchart illustrating an operation of the autonomous driving controller according to the exemplary embodiment of the present disclosure;
• 3 12 is an explanatory diagram showing a connection relationship between segments having the shape of six “trees” from a current position of a vehicle to a local target point according to an exemplary embodiment of the present disclosure;
• 4 12 illustrates an example of a detailed map showing a lane change procedure performed between the current position of the vehicle and a local target point in the forward direction, according to control of the autonomous driving controller according to the exemplary embodiment of the present disclosure;
• 5 FIG. 12 illustrates an example of a detailed map showing a lane-changing method that switches between a position of the vehicle from which a lane is changed and a new local destination in a forward direction, according to control of the autonomous driving controller, according to the exemplary embodiment of the present disclosure;
• 6 12 is an explanatory diagram showing a lane change method in a connection relationship of segments having a shape of three “trees” between a current position of a vehicle on a path map and a local destination point, according to an exemplary embodiment of the present disclosure;
• 7 12 is another explanatory diagram showing a lane change method in a connection relationship of the segments having a shape of three “trees” between a current position of a vehicle on a path map and a local destination point according to an exemplary embodiment of the present disclosure; and
• 8th 14 is still another explanatory diagram showing a lane change procedure in the case where cross streets 7, 8, and 9 exist between a current position of a vehicle on a path map and a local destination point, according to an exemplary embodiment of the present disclosure.

DETAILED DESCRIPTION

As used herein, the term "vehicle" or "vehicle-like" or other similar term is intended to be inclusive of motor vehicles in general, such as passenger automobiles, including sports utility vehicles (SUVs), buses , trucks, various commercial vehicles, marine vehicles, including a variety of boats and ships, airplanes and the like, and including hybrid vehicles, electric vehicles, internal combustion, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from resources other than oil) are included. As used herein, a hybrid vehicle is a vehicle that includes two or more sources of power, for example both gasoline-powered and electric-powered vehicles.

Although the example embodiments are described using a plurality of units to perform the example process, it is understood that the example processes may also be performed by one or a plurality of modules. In addition, the term controller is understood to refer to a hardware device that includes a memory and a processor. The memory is configured to store the modules and the processor is specifically configured to execute those modules to perform one or more processes described below.

In addition, the control logic of the present invention may be embodied as non-transitory computer-readable media on a computer-readable medium containing executable program instructions that are executed by a processor, controller, or the like. Examples of the computer-readable medium include, but are not limited to, ROM, RAM, compact disc (CD-)ROMs, magnetic tapes, floppy disks, flash drives, smart cards, and optical data storage devices. The computer-readable recording medium may also be distributed among computer systems coupled to a network such that the computer-readable media is stored and executed in a distributed fashion, eg, by a telematics server or controller area network (CAN).

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It is further understood that the terms "comprises" and/or "comprising" when used in this specification specify the presence of the listed features, integers, steps, operations, elements and/or components, but not that Exclude the presence or addition of any other property, integer, step, operation, element, component and/or group thereof. As used herein, the term "and/or" includes any and all combinations of one or more related listed terms or items.

Unless specifically stated or obvious from the context, as used herein, the term "approximately" is to be understood as within a range of normal tolerance in the art, for example within 2 standard deviations from the mean. "Approximately" can be defined as within 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, 0.05 % or 0.01% of the stated value. Unless otherwise clear from the context, all values provided herein are modified with the term "approximately".

Hereinafter, the present disclosure will be described in detail with reference to the accompanying drawings. Herein, like reference numerals designate like elements throughout the drawings. In addition, a detailed description of the functions and/or configurations that are already known will be omitted. The contents disclosed below mainly describe portions necessary to understand operations according to various exemplary embodiments, and description of the elements that may obscure the gist of the description will be omitted. In addition, some components shown in the drawings may be enlarged, omitted, or shown schematically. The dimension of each component does not exactly reflect its actual size and accordingly the content described in this specification is not limited by the relative dimensions or spacing of the components shown in the respective drawings.

1 10 is a block diagram of an autonomous driving controller 100 according to an exemplary embodiment of the present disclosure. An operation of the autonomous driving controller 100 according to an exemplary embodiment of the present disclosure will be described with reference to FIG 2 described.

Regarding 1 For example, the autonomous driving controller 100 according to an exemplary embodiment of the present disclosure may include: a controller 110, a map database (DB) 120, a path generator 130, a segment/local destination determiner 140, a lane change/direction determiner 150, a lane change timing determination element 160, and a lane change element 170. The respective components of the autonomous driving controller 100 as described above may be determined by hardware such as a semiconductor processor, software such as an application program, or a combination of them. The controller 110 may be configured to generally operate the other components of the autonomous driving controller 100 as described above. In some cases, the controller 110 may also be implemented to include all or a portion of the other components of the autonomous driving controller 100 to perform functions thereof.

The map DB 120 may be configured to display detailed map information including a collection of segments as basic information for autonomous driving with respect to a road and traffic situation of each region (see S110 of the 2 ) save. The segments may be configured in a form of a function (eg, a cubic or higher-order function) presenting shapes of the roads to be displayed on a display device. For example, a road may include one segment or more than two segments, the respective segments may be connected to each other to configure an entire map, and information related to a connection relationship may be included and stored in the map DB 120 as well.

In other words, the map DB 120 can provide the detailed map information on the shapes of the roads, a connection relationship between the segments (e.g., the roads connecting between junction nodes of the roads such as the cross roads, the interchanges, the junctions, and the like) , a speed limit of a vehicle, the number of lanes, events, or road characteristics (e.g., cross streets, cross lanes, the interchanges, the junctions, speed bumps, dead ends, and the like) and the like with respect to the road and traffic situation of each region based on the segments , configured as described above. In addition to the traffic-related data as described above, the map DB 120 may be configured to include information regarding a polygon, polyline, auxiliary contour, text, etc. related to a background of the map, and information regarding facilities, directions (or radio bearings), etc .to display a base map. In some cases, the map DB 120 may be further configured to store safety-related data, including information related to a current/predicted traffic situation (e.g., traffic jam, etc.), information related to an accident-related traffic situation, information related to a position, a type etc. regarding safety driving zones (e.g. a wildlife sanctuary, a construction area, etc.) and the like are included.

The path generator 130 may be configured to perform a navigation function of generating a corresponding path plan to arrive at (e.g., reach) a destination from a current position during autonomous driving of the vehicle, with reference to the map DB 120 (see FIG S120 the 2 ). The path generator 130 may be further configured to generate a path map containing information regarding the shapes of the road, the connection relationship between the segments (e.g., the roads connecting between the dividing points of the roads, such as the cross streets, the interchanges, the junctions, and the like), the speed limit of the vehicle, the number of lanes, the road features (e.g., cross streets, cross streets, intersections, junctions, speed bumps, dead ends, and the like) and the like on a path between the current position and includes the goal.

The segment/local destination point determiner 140 may be configured to determine all of the segments for each lane from the vehicle's current position to a target segment from the path plan generated as above, and a farthest segment(s) determine (or set) within the segments for each lane as a local target point (S130). For example, as in the example of 3 , if an autonomous vehicle 500 (e.g. an autonomous vehicle) is traveling on a segment and all of the segments for each lane from a current position of the autonomous vehicle 500 to the target segment form a segment connection relationship in a form of six "trees", a segment 26 and a segment 27 can be set as the local target points.

Specifically, the target segment can be determined as (1) a corresponding segment(s) spaced from the vehicle's current position in a forward direction by a predetermined distance (e.g., N (real number) meters), (2) a furthest distant segment corresponding to when a summation of the number of segments forward from the current position of the vehicle becomes a predetermined number (e.g. M (natural number)), (3) a farthest segment corresponding to when a summation of the number of events (e.g., cross streets, cross ways, street crossings, junctions, speed bumps, dead ends, and the like) in the forward direction from the vehicle's current position becomes the predetermined number (e.g., M (natural number)), or similar.

The segment/local destination determiner 140 may be configured to determine all of the segments up to the above-mentioned target segment for each lane and to set the farthest segment within all the segments for each lane as the local destination(s). In addition, the lane change/direction determiner 150 may be configured to determine whether a lane change is required from a current road to arrive at the local destination point from the current position of the vehicle during the autonomous driving of the vehicle, and determine which direction to take is to change lanes within a right direction or a left direction from the current road in response to determining that the lane change is required (S140).

When the vehicle is continuously driven substantially straight on a road on which the vehicle is currently positioned, the lane change/direction determiner 150 may be configured to determine whether the vehicle can arrive at the local destination point, determining that the lane to be maintained when the vehicle can arrive at the local target point and to determine that the lane change is required when the vehicle cannot arrive at the local target point. As in the example of 3 Since the road on which the autonomous vehicle 500 is currently positioned may be a lane road, which is the segment 3 included in a "tree" 3, the autonomous vehicle 500 cannot pass the segments 26 and 27 arrive, which are the local destinations directed straight ahead from the current road (eg, turns may be required to reach the local destinations). Therefore, the lane change/direction determiner 150 may be configured to determine that the lane change is required.

Additionally, in response to determining that the lane change is required as described above, the lane change/direction determiner 150 may be configured to determine a direction of a lane change in one of the right direction and the left direction from the current road. When the vehicle is currently being driven in the leftmost lane, the lane change/direction determining element 150 may be configured to determine the lane change in the right direction, and when the vehicle is currently in the rightmost lane, the lane change/direction determining element 150 be configured to determine the lane change to the left lane.

When the vehicle is not in the above lane (the leftmost lane) or the rightmost lane, the lane change/direction determiner 150 may be configured to determine whether the vehicle can arrive at the local destination point when the vehicle is continuously in the driving substantially straight (eg, without turns) on a left road or a right road of the vehicle's current road to determine whether the lane has changed to which direction, the right direction and the left direction. For example, as in the example of 3 , for the autonomous vehicle 500 to arrive at the local destination point, that is, the segment 26 or 27 from the road on which the autonomous vehicle 500 is currently positioned, the lane change/direction determination element 150 may be configured to change lanes to the to determine the right direction.

Specifically, in response to determining that the lane changes p (natural number) number of times (e.g., twice or more) to the left road or the right road of the vehicle's current road are required, the lane change/direction determiner 150 can also be configured to determine that the lane changes p number of times in the corresponding direction are required once sequentially by the following method.

In addition, the lane change timing determiner 160 may be configured to determine a lane change timing by synthetically reflecting information on a variety of parameters, such as a speed limit of a vehicle for each of the segments, a maximum curvature for each of the segments, which are determined based on a road shape, the number of lanes for each of the segments, the number of times (p times) of lane changes in the corresponding direction, the current driving speed of the vehicle, based on a current traffic situation (e.g. average speed during a time between a current and a predetermined past time, etc.), a time t ₁ necessary to change lanes for each of the current running speeds of the vehicle, and the like, in the path plan as described above (S150) .

For example, the lane change timing determiner 160 may be configured to include a lane change completion segment (e.g., a segment prior to the segment that has the road characteristics such as cross streets, cross streets, the intersections, the junctions, the speed bumps, the dead ends, and the like). to determine that the lane change must be completed, within all the segments for each lane, up to a target segment, and when a distance (K = D _{min_require} + D _margin ) calculated to the lane as described above change is greater than a distance (D _event ) from the vehicle's current position to an end of the corresponding lane change completion segment, the lane change timing determiner 160 may be configured to select a segment position(s) before the distance (K = D _{min require} + D _margin ), which is calculated to change lanes from the end of the corresponding lane change completion segment, as to determine a timing position for the lane change.

However, as described below, the lane change at the lane change timing position (e.g., the segment position before the lane change distance) is impossible or difficult to perform, the lane change can be performed at a segment before or after the corresponding segment. For example, the lane change timing determiner 160 may be configured to determine a segment immediately before or after the corresponding position (the segment) as the timing position for starting the lane change (1) when a road curvature is greater than a predetermined threshold , (2) when the number of lanes is one, (3) for the cross street, (4) in the case of a traffic congestion state due to an excessive amount of traffic within the corresponding segment, and the like.

$${\text{D}}_{\text{dec}}=\sqrt{\frac{{\text{v}}_{\text{last}}^2-{\text{v}}_{\text{current}}^2}{2a}}$$

$${\text{D}}_{\text{min\_require}}={\text{D}}_{\text{lc}}+{\text{D}}_{\text{dec}}$$

wobei v die Geschwindigkeit des Fahrzeugs ohne die Geschwindigkeitsverminderung bezeichnet, t₁ eine Zeit bezeichnet, welche für den Fahrspurwechsel notwendig ist, t₂ eine vorher eingestellte Zeit für die Stabilität zwischen dem Fahrspurwechsel und einem nächsten Fahrspurwechsel in dem Fall bezeichnet, in welchem die Anzahl der Ausführungsmale (p) des Fahrspurwechsels zwei oder mehr ist, v_current eine aktuelle Geschwindigkeit zu der Zeit des Startens der Geschwindigkeitsabnahme bzw. des Bremsens bezeichnet, v_last eine Endgeschwindigkeit zu der Zeit der Geschwindigkeitsabnahme bezeichnet und a die Geschwindigkeitsabnahme bezeichnet.The lane change timing determiner 160 may be configured to set a minimum distance (D _{min_require} = D _1c + D _dec ) necessary for the lane change expressed in Equation 3 by calculating a distance (D _1c ) in which the vehicle is moved during a process of performing the lane change, corresponding to Equation 1 below, and calculating a deceleration distance (D _dec ) in cases (e.g., a left turn, a right turn, a stop, a speed bump crossing, etc.) in which the deceleration of the vehicle in front of the local target point is required according to Equation 2 below, and can be configured to calculate a distance (K = D _{min require} + D _margin ) for the lane change, which is matched with a distance (D _event ) towards the end of the lane change completion segment by summing the minimum distance (D _{min_require} ) and to a preset distance (D _margin ) for lane change stability. $${\text{D}}_{\text{lc}}=\text{v*}\left({\text{<figure-callout id="1" label="t" filenames="DE102015223332B4\_0008.png,DE102015223332B4\_0011.png" state="{{state}}">t</figure-callout>}}_1*\text{p}+{\text{<figure-callout id="2" label="t" filenames="DE102015223332B4\_0008.png,DE102015223332B4\_0011.png" state="{{state}}">t</figure-callout>}}_2*\left(\text{p}-1\right)\right)$$

$${\text{D}}_{\text{December}}=\sqrt{\frac{{\text{<figure-callout id="2" label="v load" filenames="DE102015223332B4\_0008.png,DE102015223332B4\_0011.png" state="{{state}}">v</figure-callout>}}_{\text{load}}^{}-{\text{v}}_{\text{current}}^2}{2a}}$$

$${\text{D}}_{\text{min\_require}}={\text{D}}_{\text{lc}}+{\text{D}}_{\text{December}}$$

where v denotes the speed of the vehicle without the deceleration, t ₁ denotes a time necessary for the lane change, t ₂ denotes a preset time for the stability between the lane change and a next lane change in the case where the number of Execution times (p) of lane change is two or more, v _current denotes a current speed at the time of starting deceleration/braking, v _last denotes a final speed at the time of deceleration, and a denotes the deceleration.

Because the lane change timing determiner 160 determines the timing position (segment) for starting the lane change, the lane change element 170 may be configured to generate a control signal to trigger the lane change in the appropriate direction from the appropriate position (segment). by detecting vehicles ahead and behind a current lane and a lane to be changed to (e.g. surrounding vehicles) by using a radar, an infrared sensor or the like, and a vehicle control system such as an electronic The vehicle's control unit (ECU) can be configured to perform the lane change based on the appropriate control signal.

4 FIG. 12 illustrates an example of a detailed map showing a lane change procedure performed between the current position of the vehicle and a forward local target point according to control of the autonomous driving controller 100 according to the exemplary embodiment of the present disclosure.

In particular 4 represents a case where the autonomous vehicle 500 having the autonomous driving controller 100 is driven on a segment immediately before entering a crossroad 600 . When the autonomous driving controller 100 sets two segments 700 as the forward local target points as shown in FIG 4 is shown and the autonomous vehicle 500 is driven while maintaining a current lane, the autonomous vehicle 500 cannot arrive at the local destination point 700 due to a dead end segment. Therefore, the autonomous driving controller 100 may be configured to perform control to perform a left lane change. As described above, the autonomous driving controller 100 may be configured to determine a segment 800 of the timing position to start the lane change, and since the calculated corresponding segment 800 may be a segment having a lane, it may autonomous driving controller 100 may be configured to perform lane changes on a segment having a plurality of lanes, such as a segment immediately after segment 800.

5 FIG. 12 illustrates an example of a detailed map showing a lane change process performed between a position of the vehicle from which a lane is changed and a new local destination in the forward direction, according to control of the autonomous driving controller 100 according to the example embodiment of the present disclosure.

As in 5 is shown after the autonomous vehicle 500 having the autonomous driving controller 100 performs the left lane change as shown in FIG 4 As illustrated, the autonomous driving controller 100 may be reconfigured to detect a new local destination point on the path plan. Since the autonomous vehicle 500 arrives at the crossroad while driving continuously after performing the lane change in a left lane direction, but does not arrive at a local target point 900 while driving substantially straight (e.g., without turning), the autonomous Driving controller 100 may be configured to determine a lane change necessity, as described above. Since a right turn at the crossroad is required from the current position of the autonomous vehicle 500 to reach the local destination point 900, the autonomous driving controller 100 may be configured to determine and execute a right lane change. In addition, since the intersection is present after turning right at the crossroad and the corresponding lane disappears after the intersection, the autonomous driving controller 100 may be configured to determine and execute a left lane change necessity.

6 Fig. 12 is an explanatory diagram showing a lane change method in a connection relationship of the segments, which has a shape of three "trees" between a current position (segment 1) of a vehicle on a path plan and a local destination point (segment 17), corresponding to an example embodiment of the present disclosure.

Specifically, it can be assumed that a length of each segment is about 100 meters, and a speed limit and a running speed of the autonomous vehicle 500 on a current traffic flow is about 80 km/h (kilometers per hour). Additionally, in the connecting relationship of the segments, as in 6 As shown, the autonomous driving controller 100 mounted within the self-contained vehicle 500 may be configured to set a segment 17 as the local target point at the vehicle's current position (segment 1). For the autonomous vehicle 500 to arrive at the segment 17 from the current position (segment 1) of the vehicle, the autonomous vehicle 500 can be configured to perform two lane changes in the right direction, and the two lane changes can be up to a segment 12 before segments 13 and 14 (or segment 15) according to the road characteristics such as dead end and the like. In other words, it can be assumed that the distance (D _event ) from the vehicle's current position to an end of the corresponding lane change completion segment (segment 11) (or segment 10/12) is approximately 400 meters ((D _event ) = 400 meters), the running speed of the autonomous vehicle 500 is about 80 km/h, the number of times (p times) of lane change is two, the time t ₁ necessary for the lane change for each of the current running speeds of the vehicle , is about 5 seconds at about 80 km/h, the preset time t ₂ for the stability between the lane change and the next lane change is about 5 seconds.

Therefore, according to Equations 1 to 3, the distance (D _1c ) in which the vehicle is moved during a process of performing the lane change can be about 333 meters ((D _1c ) = 2 times * 5 sec/times * 80 km/ h + 1 time * 5 sec/time * 80 km/h = 333 meters). In addition, when the cases (eg, a left turn, a right turn, a stop, a speed bump crossing, etc.) in which deceleration of the vehicle is required do not occur, deceleration may be unnecessary. Therefore, it can be assumed that the braking distance (D _dec ) is approximately zero and the set distance (D _margin ) for lane change stability is approximately 100 meters, the distance (K=D _{min require} + D _margin ) for lane change is approximately 433 Meter is ((K=D _{min_require} + D _margin ) = D _1c + D _dec + D _margin = 333 + 0 + 100 = 433 meters), which is larger than D _event .

Therefore, the autonomous driving controller 100 may be configured to determine a segment before the segments 13 and 14 (or segment 15) corresponding to the road characteristics such as the dead end and the like, that is, a segment position before the distance (K=D _{min_require} + D _margin ) = 433 meters) which is calculated to perform the lane change from an end of the lane change completion segment (Segment 10/11/12) as the timing position for starting the lane change, and in the example of 6 Since the autonomous vehicle 500 is at a point ahead of 433 meters from the road characteristic, the autonomous driving controller 100 may be configured to start lane change at a current segment.

7 Fig. 13 is another explanatory diagram showing a lane change procedure in a connecting relationship of the segments, which has a shape of three "trees" between a current position (segment 1) of a vehicle on a path map and a local destination point (segment 17), according to an example embodiment of the present disclosure.

Specifically, when it can be assumed that a length of each of all the segments is about 100 meters, and a speed limit and a running speed of the autonomous vehicle 500 on a current traffic flow is about 80 km/h (kilometers per hour), a segment 16 corresponds to one Zone in which the self-contained vehicle 500 turns right at the crossroad, and it can be assumed that the suitable speed of the vehicle in this zone is around 20 km/h. Additionally, in the connecting relationship of the segments, as in 7 As illustrated, the autonomous driving controller 100 mounted within the self-contained vehicle 500 may be configured to set the segment 17 as the local target point at the vehicle's current position (segment 1). For the autonomous vehicle 500 to arrive at the segment 17 from the current position (segment 1) of the vehicle, the autonomous vehicle 500 may be configured to perform two lane changes in the right direction, and the two lane changes may be up to a segment 12 ahead a segment 15 (or segments 13 and 14).

In other words, it can be assumed that the distance (D _event ) from the vehicle's current position to an end of the corresponding lane change completion segment (segment 11) (or segment 10/12) is approximately 400 meters ((D _even t) = 400 meters), the current running speed of the autonomous vehicle 500 is about 80 km/h, the number of times (p times) of lane change is two, the time t ₁ required for the lane change for each of the current running speeds of the vehicle is necessary is about 5 seconds at about 80 km/h, the preset time t ₂ for the stability between the lane change and the next lane change is about 5 seconds.

Therefore, according to Equations 1 to 3, the distance (D _1c ) in which the vehicle is moved during a process of performing the lane change can be about 333 meters ((D _1c ) = 2 times * 5 sec/times * 80 km/ h + 1 time * 5 sec/time * 80 km/h = 333 meters). In addition, when the cases (e.g., a left turn, a right turn, a stop, a speed bump crossing, etc.) occur in which braking of the vehicle is required and it can be assumed that the braking (a) - 0.2 m/sec ² (a = -0.2 m/sec ² ), since V _current = 80 km/h and v _last = 20 km/h, the deceleration distance (D _dec ) is 35 meters (see equation 2).

In addition, assuming that the previously set distance (D _margin ) for lane change stability is about 100 meters, the distance (K = D _{min require} + D _margin ) for lane change can be about 468 meters ((K = D _{min_require} + D _margin ) = D _1c + D _dec + D _margin = 333 + 35 + 100 = 468 meters), which is greater than D _event . Therefore, the autonomous driving controller 100 may be configured to determine a segment before the segments 13 and 14 (or the segment 15) according to the road characteristics such as the dead end and the like, that is, a segment position before the distance (K = D _{min_require} + D _margin ) = 468 meters), which is calculated to perform the lane change from an end of the lane change completion segment (segment 10/11/12), as the timing position for starting the lane change, and in the example the 7 Since the autonomous vehicle 500 is at a point forward 468 meters from the event, the autonomous driving controller 100 may be configured to perform the lane change at a current segment.

8th 12 is still another explanatory diagram showing a lane change procedure in the case where cross streets 7, 8 and 9 exist between a current position (segment 1) of the vehicle on a path map and a local destination point (segment 17), corresponding to a exemplary embodiment of the present disclosure.

Specifically, it can be assumed that a length of each of the segments is about 200 meters, and a speed limit and a running speed of the self-contained vehicle 500 in a current traffic flow is about 80 km/h (kilometers per hour). Additionally, in the connecting relationship of the segments, as in 8th As illustrated, the autonomous driving controller 100 mounted within the self-contained vehicle 500 may be configured to set the segment 17 as the local target point at the vehicle's current position (segment 1). It can be assumed that segments 7, 8 and 9 are the cross streets. For the autonomous vehicle 500 to arrive at the segment 17 from the current position (segment 1) of the vehicle, the autonomous vehicle 500 may be configured to change two lanes in the right direction, and the two lane changes can be completed up to a segment 12 before the segments 13 and 14 (or the segment 15) according to the road characteristics such as the dead end and the like.

In other words, it can be assumed that the distance (D _event ) from the vehicle's current position to an end of the corresponding lane change completion segment (segment 11) (or segment 10/12) is approximately 800 meters ((D _event ) = 800 meters), the traveling speed of the autonomous vehicle 500 is about 80 km/h, the number of times (p times) of lane changing is two, the time t ₁ necessary for the lane changing for each of the current traveling speeds of the vehicle , is about 5 seconds at about 80 km/h, the preset time t ₂ for the stability between the lane change and the next lane change is about 5 seconds.

Therefore, according to Equations 1 to 3, the distance (D _1c ) in which the vehicle can be moved during a process of performing the lane change can be approximately 333 meters ((D _1c ) = 2 times * 5 sec/times * 80 km/h + 1 time * 5 sec/time * 80 km/h = 333 meters). In addition, when the cases (eg, a left turn, a right turn, a stop, a speed bump crossing, etc.) in which the braking of the vehicle is required do not occur, the braking may be unnecessary. Therefore, assuming that the deceleration distance (D _dec ) is approximately zero and the preset distance (D _margin ) for lane change stability is approximately 100 meters, the distance (K=D _{min require} + D _margin ) for the lane change may be 433 meters ((K = D _{min_require} + D _margin ) = D _1c + D _dec + D _margin = 333 + 0 + 100 = 433 meters), which is less than D _event .

Accordingly, the autonomous driving controller 100 may be configured to determine a segment before the segments 13 and 14 (or the segment 15) corresponding to the road characteristics such as the dead end and the like, that is, a segment position before the distance ( K = D _{min require} + D _margin ) = 433 meters) which is calculated to perform the lane change from an end of the lane change completion segment (segment 10/11/12) as the timing position for starting the lane change. In the example of 8th For example, the autonomous driving controller 100 may be configured to start the lane change after a zone of segment 4 in which the autonomous vehicle 500 is at a point 433 meters before the event. However, since a lane marking does not exist within the crossroad, the lane change cannot be performed, and since segments 7, 8, and 9 are within the crossroad, the lane change can be performed at segment 10 immediately after segments 7, 8, and 9 ( or a segment 4 immediately before segments 7, 8 and 9).

As described above, according to the exemplary embodiments of the present disclosure, the autonomous driving controller 100 may be configured to automatically determine whether the lane change is required and effectively determine the lane change timing when the lane change is required based on the shapes of the roads in the forward direction, the connection relationship between the roads, the speed limit, the number of lanes, the road characteristics (e.g., the cross roads, the cross roads, the road crossings, the junctions, the speed bumps, the dead ends, etc.) and the like is recognized from the detailed map while assisting the autonomous driving of the vehicle, thereby making it possible to assist the driver to arrive at the destination more conveniently, stably and efficiently with the help of the autonomous driving.

Here above, although the present disclosure is described in terms of specific matters such as specific components and the like, exemplary embodiments and drawings are provided only for aiding in the overall understanding of the present disclosure. Therefore, the present disclosure is not limited to the exemplary embodiments. Various modifications and changes can be made from this description by those skilled in the art to which this disclosure pertains. Therefore, the spirit of the present disclosure should not be limited by the exemplary embodiments described above, and the following claims as well as technical spirit which are equally modified or equivalent to the claims should be interpreted to fall within the scope and spirit of revelation falls.

SYMBOLS OF THE ELEMENTS IN FIGURES 1 AND 2

110

control member

120

Map DB

130

path generator

140

Segment/local target point designator

150

Lane change/direction determining element

160

lane change timing determination element

170

lane change element

S110

Control map DB

S120

Generate path plan to destination during autonomous driving

S130

Determine segments up to a predetermined target segment and set local aim point

S140

Determine whether or not the lane change is required and the direction of the lane change at the time of the lane change

S150

Determining the timing of the lane change

S160

Perform a lane change

Claims (16)

An autonomous driving control method of a vehicle (500), comprising: generating (S120), by a controller (110), a path plan from a current position of the vehicle (500) toward a destination with reference to a map database (120) while driving the vehicle (500); determining (S130), by the controller, a farthest segment within a plurality of segments for each lane of a road from the current position of the vehicle (500) to a predetermined segment on the path map as a local destination point (700); determining (S140), by the controller, whether a lane change is required to arrive at the local destination (700), and determining a direction of the lane change when the lane change is required; and Determining (S150), by the controller, a lane change completion segment within the segments for each lane toward the target segment, and determining a segment position before a distance for the lane change, from an end of the lane change completion segment, as a timing position for the lane change; wherein if the segment prior to the lane change distance has a road curvature of a predetermined threshold or greater, the number of lanes is one for a cross street (600), or during a traffic congestion condition due to excess traffic within a corresponding segment segment immediately before or after the corresponding segment as the lane change timing position is determined. Autonomous driving control method claim 1 , wherein the path map includes information related to at least one selected from the group consisting of: a shape of a road, a connection relationship between the segments connecting between the road division nodes, a speed limit of the vehicle (500), the number of lanes and road characteristics. Autonomous driving control method claim 1 , wherein the target segment includes: a segment spaced from the current position of the vehicle (500) in a forward direction by a predetermined distance, a farthest segment corresponding to when summing up the number of segments in the forward direction of the current position of the vehicle (500) becomes a predetermined number, or a farthest segment corresponding to when accumulating the number of forward events from the current position of the vehicle (500) becomes the predetermined number . Autonomous driving control method claim 1 wherein in the lane change direction determination, the lane change direction is determined in a left direction or a right direction based on whether the vehicle (500) arrives at the local target point (700) by traveling straight after performing the lane change , in the left or the right direction. Autonomous driving control method claim 1 , wherein in determining the segment position as the lane change timing position, a segment prior to the segments having an event that is a crossroad (600), a crossroad, an intersection, an intersection, a speed bump, or a Include dead end when the lane change completion segment or lane change completion segment is determined. Autonomous driving control method claim 1 , wherein in determining the segment position as the lane change timing position, if the lane change distance is greater than a distance from the current position of the vehicle (500) to the end of the lane change completion segment, a segment position before the distance for the lane change is determined as the timing position for the lane change. Autonomous driving control method claim 1 , where in determining the segment position, as the timing position for the ride lane change, a minimum distance necessary for the lane change is calculated by calculating a distance at which the vehicle (500) is moved during a process of performing the lane change and a braking distance, and a preset distance for the Lane change stability is reflected to calculate the lane change distance. Autonomous driving control method claim 7 , wherein in the determination of the segment position, as the timing position for the lane change, the distance at which the vehicle (500) is moved during a lane change is based on a calculation that a speed of the vehicle (500), a time which is necessary for the lane change, and uses a preset time for the stability between the lane change and a next lane change when the number of times (p) of executing the lane change is two or more. Autonomous driving control device (100) of a vehicle (500), the autonomous driving control device (100) having: a path generator (130) configured to generate a path plan from a current position of the vehicle (500) to a destination with reference to a map database (120) while driving the vehicle (500); a segment/local aimpoint designator (140), configured to designate a farthest segment, within the plurality of segments, for each lane of a road, from the vehicle's current position (500) to a predetermined target segment, on the path plan, as a local target point (700 ); a lane change/direction determiner (150), to determine whether a lane change is required, to arrive at a local destination (700) and determine a direction of the lane change when the lane change is required; a lane change timing determiner (160), which is configured to determine a lane change completion segment, within the segments for each lane change, toward the target segment, and to determine a segment position, before a distance for the lane change, from an end of the lane change completion segment, as a timing position for the lane change; wherein if the segment prior to the lane change distance has a road curvature of a predetermined threshold or greater, the number of lanes is one for a crossroad (600), or during a traffic congestion condition, due to excess traffic within a corresponding segment , the lane change timing determiner (160) is configured to determine a segment immediately before or after the corresponding segment as the lane change timing position. Autonomous Driving Controller claim 9 , wherein the path plan includes information on at least one selected from the group consisting of: a shape of a road, a connection relationship between the segments connecting the road division nodes, a speed limit of the vehicle (500), the number of lanes and road characteristics. Autonomous Driving Controller claim 9 , wherein the target segment includes: a segment spaced from the current position of the vehicle (500) in a forward direction by a predetermined distance, a farthest segment corresponding to when a summation of the number of segments forward, from the vehicle's current position (500) becomes a predetermined number, or a farthest segment corresponding to when a summation of the number of events forward from the vehicle's current position (500) becomes a predetermined number . Autonomous Driving Controller claim 9 , wherein the lane change/direction determiner (150) is configured to determine a direction of the lane change in a left direction or a right direction based on whether the vehicle (500) arrives at the local destination point (700) by driving in straight direction after performing the lane change in the left or right direction. Autonomous Driving Controller claim 9 wherein the lane change timing determiner (160) is configured to determine a segment ahead of the segments having a road characteristic which is a crossroad (600), a crossroad, an intersection, a junction, a speed bump or a include dead end as the lane change exit segment. Autonomous Driving Controller claim 9 , where if the distance for the lane change sel is greater than a distance from the current position of the vehicle (500) to the end of the lane change completion segment, the lane change timing determiner (160) is configured to determine a segment position before the distance before the lane change as the timing - Position for lane change. Autonomous Driving Controller claim 9 wherein the lane change timing determiner (160) is configured to determine the distance for the lane change by calculating a distance at which the vehicle (500) is moved during a process of performing the lane change and a braking distance to calculate a minimum distance necessary for the lane change, and reflecting a previously set distance for the stability of the lane change. Autonomous Driving Controller claim 15 wherein the lane change timing determiner (160) is configured to calculate the distance at which the vehicle (500) is moved, during a process of performing the lane change, using a speed of the vehicle (500), a Time necessary for the lane change and a preset time for the stability is between the lane change and a next lane change when the number of times (p) of executing the lane change is two or more.

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